Recherche

Afficher tous les résultats pour

Accueil

Personne

Alcherio Martinoli

À propos
Confidentialité
Mentions légales

Graph Chatbot

Publications associées (203)

Online Kinematic and Dynamic Parameter Estimation for Autonomous Surface and Underwater Vehicles

Alcherio Martinoli, Anwar Ahmad Quraishi

One of the main challenges in underwater robot localization is the scarcity of external positioning references. Therefore, accurate inertial localization in between external position updates is crucial for applications such as underwater environmental samp ...

2021

Robust Localization for Multi-robot Formations: An Experimental Evaluation of an Extended GM-PHD Filter

Alcherio Martinoli, Alicja Barbara Roelofsen, Michiaki Hirayama

This paper presents a thorough experimental evaluation of an extended Gaussian Mixture Probability Hypothesis Density filter which is able to provide state estimates for the maintenance of a multirobot formation, even when the communication fails and the t ...

Springer Nature2021

Distributed Cooperative Localization with Efficient Pairwise Range Measurements

Alcherio Martinoli, Anwar Ahmad Quraishi

We present a method based on covariance intersection for cooperative localization with pairwise range-only relative measurements. Our method was designed for underwater robots equipped with an acoustic communication and ranging system. Range measurements a ...

2021

A modular functional framework for the design and evaluation of multi-robot navigation

Alcherio Martinoli, Cyrill Silvan Baumann

In this work, we address the design of tightly integrated control, estimation, and allocation algorithms allowing a group of robots to move collectively. For doing so, we leverage a modular framework that allows us to define precisely the needed functional ...

Elsevier2021

A robust localization system for multi-robot formations based on an extension of a Gaussian mixture probability hypothesis density filter

Alcherio Martinoli, Alicja Barbara Roelofsen

This paper presents a strategy for providing reliable state estimates that allow a group of robots to realize a formation even when communication fails and the tracking data alone is insufficient for maintaining a stable formation. Furthermore, the trackin ...

2020

3D Odor Source Localization Using a Micro Aerial Vehicle: System Design and Performance Evaluation

Alcherio Martinoli, Chiara Ercolani

2020

A Distributed Source Term Estimation Algorithm for Multi-Robot Systems

Alcherio Martinoli, Faezeh Rahbar

Finding sources of airborne chemicals with mobile sensing systems finds applications in safety, security, and emergency situations related to medical, domestic, and environmental domains. Given the often critical nature of all the applications, it is impor ...

IEEE2020

Particle Source Localization with a Low-Cost Robotic Sensor System: Algorithmic Design and Performance Evaluation

Alcherio Martinoli, Ali Marjovi, Jian Huang, Xinxing Chen

In this paper we tackle the problem of finding the source of particulate matter with a mobile robot equipped with a low-cost multi-channel optical particle counting sensor. The proposed method is based on the Infotaxis odor source localization algorithm an ...

2020

Vertex: A New Distributed Underwater Robotic Platform for Environmental Monitoring

Alcherio Martinoli, Alexander Bahr, Felix Stephan Schill

We present a new Autonomous Underwater Vehicle (AUV) system for cooperative environmental sensing. The AUV was specifically developed as a platform for distributed, cooperative sensing in lakes and coastal areas. In this paper we describe the prerequisite ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

Lightweight physics-based models for the control of fluid-mediated self-assembly of robotic modules

Alcherio Martinoli, Bahar Haghighat, Hala Khodr

Self-assembling robotic systems form a subclass of distributed robotic systems that undertake the fundamental task of structure formation. These systems build desired target structures by putting their constituting robotic modules together in a distributed ...

Elsevier2019

A Comparative Study of Collision Avoidance Algorithms for Unmanned Aerial Vehicles: Performance and Robustness to Noise

Denis Gillet, Alcherio Martinoli, Steven Adriaan Roelofsen

Over the past years, the field of small unmanned aerial vehicles has grown significantly and several applications have appeared, requiring always more autonomous flight. An important remaining challenge for fully autonomous unmanned aerial vehicles is coll ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

Easily Deployable Underwater Acoustic Navigation System for Multi-Vehicle Environmental Sampling Applications

Alcherio Martinoli, Alexander Bahr, Felix Stephan Schill, Anwar Ahmad Quraishi

Water as a medium poses a number of challenges for robots, limiting the progress of research in underwater robotics vis-a-vis ground or aerial robotics. The primary challenges are satellite based positioning and radio communication being unusable due to hi ...

IEEE2019

Adaptive Risk-Based Replanning For Human-Aware Multi-Robot Task Allocation With Local Perception

Alcherio Martinoli, Zeynab Talebpour

In this letter, we propose an adaptive risk-based replanning strategy in the context of multirobot task allocation for dealing with limitations of local perception and unpredicted human behavior. Our replanning method is based on the variations of social r ...

2019

An Algorithm for Odor Source Localization based on Source Term Estimation

Alcherio Martinoli, Ali Marjovi, Faezeh Rahbar

Finding sources of airborne chemicals with mobile sensing systems finds applications across the security, safety, domestic, medical, and environmental domains. In this paper, we present an algorithm based on source term estimation for odor source localizat ...

IEEE2019

A Flexible Navigation Support System for a Team of Underwater Robots

Alcherio Martinoli, Alexander Bahr, Felix Stephan Schill, Anwar Ahmad Quraishi

2019

Design and Performance Evaluation of an Algorithm Based on Source Term Estimation for Odor Source Localization

Alcherio Martinoli, Ali Marjovi, Faezeh Rahbar

Finding sources of airborne chemicals with mobile sensing systems finds applications across safety, security, environmental monitoring, and medical domains. In this paper, we present an algorithm based on Source Term Estimation for odor source localization ...

2019

Design and Calibration of a Lightweight Physics-Based Model for Fluid-Mediated Self-Assembly of Robotic Modules

Alcherio Martinoli, Bahar Haghighat, Hala Khodr

In this paper, we consider a system consisting of multiple floating robotic modules performing self-assembly. Faithfully modeling such a system and its inter-module interactions typically involves capturing the hydrodynamic forces acting on the modules usi ...

Springer2019

A Rule Synthesis Algorithm for Programmable Stochastic Self-Assembly of Robotic Modules

Alcherio Martinoli, Bahar Haghighat

Programmable self-assembly of modular robots offers promising means for structure formation at different scales. Rule-based approaches have been previously employed for distributed control of stochastic self-assembly processes. The assembly rate in the pro ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

Guest editorial: Special issue on distributed robotics - from fundamentals to applications

Alcherio Martinoli, Roderich Gross

2018

Multi-Robot Coordination in Dynamic Environments Shared with Humans

Alcherio Martinoli, Zeynab Talebpour

This work addresses multi-robot coordination in social human-populated environments based on a Hoplites-based framework for solving the multi-robot task allocation problem. Humans are considered in the proposed coordination mechanism by means of accounting ...

2018

Page 2 sur 11